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Many Worlds Browsing for Control of Multibody Dynamics

Many Worlds Browsing for Control of Multibody Dynamics. Christopher D. Twigg Doug L. James SIGGRAPH 2007. Problem. Control multibody passive simulations Generate simulations with user desired constraints. Why is it hard ?.

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Many Worlds Browsing for Control of Multibody Dynamics

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  1. Many Worlds Browsing for Control of Multibody Dynamics Christopher D. Twigg Doug L. James SIGGRAPH 2007

  2. Problem • Control multibody passive simulations • Generate simulations with user desired constraints

  3. Why is it hard ? • Involves a lot of collisions which bifurcates the simulation parameter space • Optimization methods not suited • don’t guarantee convergence • take long time to solve and won’t be user interactive

  4. Add user interaction • Popovic et al. “Interactive manipulation of rigid body simulations”, SIGGRAPH 2000 • Gradient descent schemes use to adapt to user specified constraints interactively • Interactive for one or two bodies and collisions • Cannot be applied to large systems as gradient computation is linear in number of collisions (which can be very large !) • Read this up for discussion if interested !

  5. Many worlds approach • Given an initial state of the system, generate all possible samples of simulations • For each collision, apply a perturbation impulse to the post impact velocity to produce different initial states for the next time step

  6. Efficient Implementation • Simulations run in parallel in a cluster • Large amount of data to be stored and transmitted across machines • Compress the objects’ position and orientation i.e. piecewise quadratic splines for position and linear interpolation for rotations • reduce storage for these spline coefficients • C0 continuity • constant quadratic coefficient (only depends on gravity)

  7. Generating desired simulations • Interactive Browsing • Spatial Queries • Ranking Metrics • Refinement

  8. Results For demos and software, visit http://graphics.cs.cmu.edu/projects/mwb/

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